/**

This file is part of MaCI/GIMnet.

MaCI/GIMnet is free software: you can redistribute it and/or modify it 
under the terms of the GNU Lesser General Public License as published 
by the Free Software Foundation, either version 3 of the License, or 
(at your option) any later version.

MaCI/GIMnet is distributed in the hope that it will be useful, but WITHOUT 
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 
FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public 
License for more details.

You should have received a copy of the GNU Lesser General Public 
License along with GIMnet. (See COPYING.LESSER) If not, see 
<http://www.gnu.org/licenses/>.

**/


/****************************************************
* setNumberOfParticles(int NX,int NY, int NA);
* 
* Sets the number of particles used in scan matching
*
* NX, number of X grids
* NY, number of Y grids
* NA, number of angle grids
******************************************************/
void setNumberOfParticles(int NX,int NY, int NA);


/******************************************************************
* int sickmap(float *a,float *r,float *ix2, float *iy,float *v );
* 
* calculates match between reference scan and measured scan
* 
* *a - angles corresponding to measurement r
* *r - measurement
* *ix2 - x coordinates of reference "map"
* *iy  - y coordinates of reference "map"
* *v  - initial position between ref and act scan + the result is returned here
*  
* Returns:int hits, number of hits that corresponds to the best match
**************************************************************************/ 
int sickmap(float *a,float *r,float *ix2, float *iy,float *v );


/***********************************************************
*void setGridSize(float ad, float xd, float yd, float dd);
*
* sets the grid size for search grids
*
* ad - angle resolution in DEGREES
* xd - X resolution in meters
* yd - Y resolution in meters
* dd - longest distance between closest points... if shorter hit is increased
**********************************************************************/

void setGridSize(float ad, float xd, float yd, float dd);
